Design and analysis of a wall‐climbing robot for water wall inspection of thermal power plants

Boiler water wall in thermal power plants is characterized by high‐altitude detection requirements. Moreover, the existing water wall‐climbing robots are characterized by low obstacle‐crossing performance, deviations, and a lack of autonomous crossing pipeline function. In view of this feature, a wall‐climbing robot with permanent magnet and electromagnetic hybrid adsorption wheels is proposed. The robot has the function of independent traverse according to its own structural characteristics. Furthermore, transverse movement is proposed by comparing different adsorption modes, moving and driving modes. Robot statics in upward, downward, and transverse crawling are carried out, and nonsliding mechanical and nonoverturning mechanical models are obtained. Robot ' s dynamics are analyzed by considering the wall movement. The finite element simulation analysis of its main stressed parts is carried out by employing ANSYS, and an optimal structural model is obtained. The gap adsorption permanent magnet model is constructed, and its parametric simulation analysis is carried out using the Ansoft Maxwell module. The influence curve of the gap on the magnetic force is then obtained. Finally, the prototype is developed according to the design model and calculation analysis, and the experimental test is carried out. The experimental results show that the robot meets the expected functions and indexes, providing a basis for the intelligent development of thermal power plants.